Abstract
Force control of a robot arm tip against a moving object's side-surface is achieved by sensor fusion of vision and force. A block is employed as a moving object. Position information of the block's corner is obtained by grabbing an image at frame rate of 33 ms by a CCD camera and processing it. Information on the contact force between the tip of a robot arm and the block's side-surface is obtained by a force sensor. The robot performs accurate profiling tasks to the moving block's surface in real time by using both vision and force information. ART-Linux was used as a real-time operating system.
